Ingo Lütkebohle (Bosch),
Borja Outerelo Gamarra (eProsima),
Iñigo Muguruza Goenaga (Acutronic Robotics),
Jaime Martin Losa (eProsima),
Víctor Mayoral Vilches (Alias Robotics)
Traditionally, ROS has stopped at the microcontroller boundary, even though robots contain many of them. Usually, they are integrated through serial protocols. This is error-prone work and worse, many existing sensors and actuators have proprietary firmware that cannot be changed, because manufacturers are concerned (not unreasonably so) that user-changes might break it. Therefore, the micro-ROS project is working on bringing full microcontroller support to the ROS 2 ecosystem, and to provide safe mechanisms for composability. In this talk, we will introduce current work, our architectural approach, the hardware we support, challenges we addressed, and challenges that remain.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.